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update ecl/EKF with improved covariance prediction stability and change default IMU integration period 4000 us -> 2500 us

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- bring in PX4/ecl#795 "EKF: Improve covariance prediction stability"
    - the ecl/EKF filter update period has changed from 8 ms to 10 ms
 - change default integration period 4000 us -> 2500 us (aligns with new EKF filter update period)
This commit is contained in:
Daniel Agar
2020-04-23 13:55:34 -04:00
committed by GitHub
parent 5819c82678
commit 31f3a21849
25 changed files with 26 additions and 26 deletions
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src/lib/drivers/accelerometer/PX4Accelerometer.cpp
+1 -1
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@@ -124,7 +124,7 @@ void PX4Accelerometer::set_update_rate(uint16_t rate)
const uint32_t update_interval = 1000000 / rate;
// TODO: set this intelligently
_integrator_reset_samples = 4000 / update_interval;
_integrator_reset_samples = 2500 / update_interval;
}
void PX4Accelerometer::update(hrt_abstime timestamp_sample, float x, float y, float z)
src/lib/drivers/accelerometer/PX4Accelerometer.hpp
+1 -1
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@@ -98,7 +98,7 @@ private:
hrt_abstime _status_last_publish{0};
Integrator _integrator{4000, false};
Integrator _integrator{2500, false};
matrix::Vector3f _calibration_scale{1.f, 1.f, 1.f};
matrix::Vector3f _calibration_offset{0.f, 0.f, 0.f};